Brake deviation control method, device, equipment, storage medium and program product

Abstract

The invention discloses a braking deviation control method and device, equipment, a storage medium and a program product. The method comprises the steps that when yaw parameters of a vehicle in a braking state represent that the vehicle has braking deviation, the state of a steering wheel of the vehicle is obtained; the steering wheel state is used for representing whether a steering wheel is operated in a braking state; determining adjustment parameters of the steering wheel according to the yaw parameters and the steering wheel state, and controlling the steering wheel to rotate based on the adjustment parameters; the adjusting parameters comprise adjusting torque or adjusting angle. By the adoption of the method, whether braking deviation happens to the vehicle or not is judged through the yaw parameters, a wheel braking force sensor does not need to be installed, in other words, additional parts do not need to be added, and the braking deviation control cost is effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a brake deviation control method, device, equipment, storage medium and program product. Background Art

[0002] When a vehicle brakes, the phenomenon of deviation to one side is called brake deviation, which can seriously affect driving safety.

[0003] At present, the steering compensation torque is often determined based on the braking forces of the left and right wheels of the vehicle obtained by the wheel braking force sensor, and then the steering wheel torque is determined to perform compensation control on the steering wheel.

[0004] However, there are currently few vehicles equipped with left and right wheel braking force sensors, and the application scope of the solution for achieving brake deviation control based on left and right wheel braking force is relatively narrow. If the vehicle is equipped with left and right wheel braking force sensors, the corresponding cost will increase. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a brake deviation control method, device, equipment, storage medium and program product, which can obtain vehicle parameters and determine the vehicle status through the components of the vehicle itself, and then judge whether the vehicle has brake deviation. The judgment method is convenient and there is no need to install wheel braking force sensors, that is, there is no need to add additional components, which effectively reduces the cost of brake deviation control and increases the application scope of the brake deviation control method.

[0006] In a first aspect, the present application provides a brake deviation control method. The method comprises:

[0007] When the yaw parameter of the vehicle in the braking state indicates that the vehicle has a braking deviation, the steering wheel state of the vehicle is obtained; the steering wheel state is used to indicate whether the steering wheel of the vehicle is operated in the braking state;

[0008] The adjustment parameters of the steering wheel are determined according to the yaw parameter and the state of the steering wheel, and the steering wheel rotation is controlled based on the adjustment parameters; the adjustment parameters include adjustment torque or adjustment angle.

[0009] In combination with the first aspect, in a possible implementation, the braking deviation control method further includes: if the vehicle is not braked, or the yaw parameter of the vehicle in the braking state indicates that the vehicle is not braking and deviating, then controlling the steering wheel is prohibited.

[0010] In combination with the first aspect, in a possible implementation, an adjustment parameter of the steering wheel is determined according to a yaw parameter and a steering wheel state, including: determining a first yaw parameter and a second yaw parameter according to the yaw parameter; the first yaw parameter is related to M sub-parameters in the yaw parameter, the second yaw parameter is related to N sub-parameters in the yaw parameter, the M sub-parameters are different from the N sub-parameters, and M and N are integers greater than or equal to 2; if the vehicle is in a turning state, or the steering wheel state indicates that the steering wheel is operated in a braking state, then the adjustment torque of the steering wheel is determined based on the first yaw parameter; if the vehicle is in a straight-moving state, and the steering wheel state indicates that the steering wheel is not operated in a braking state, then the adjustment angle of the steering wheel is determined based on the second yaw parameter.

[0011] In combination with the first aspect, in a possible implementation, the sub-parameters included in the yaw parameter include a nominal yaw parameter, a current yaw parameter and a target yaw parameter; the nominal yaw parameter is the yaw parameter when the vehicle reaches a steady state, and the target yaw parameter is zero.

[0012] In combination with the first aspect, in a possible implementation, determining a first yaw parameter and a second yaw parameter according to the yaw parameter includes: determining the first yaw parameter according to the absolute value of the difference between the current yaw parameter and the nominal yaw parameter; determining the second yaw parameter according to the difference between the target yaw parameter and the current yaw parameter.

[0013] In combination with the first aspect, in a possible implementation, determining the adjustment torque of the steering wheel based on the first yaw parameter includes: searching for torque reference information based on the first yaw parameter and the speed of the vehicle, and determining the value of the auxiliary torque corresponding to the first yaw parameter and the current speed of the vehicle; the torque reference information includes the values ​​of the auxiliary torque corresponding to different vehicle speeds and different first yaw parameters; determining the direction of the auxiliary torque according to the difference between the current yaw parameter and the nominal yaw parameter; determining the auxiliary torque according to the value and direction of the auxiliary torque; and determining the adjustment torque according to the auxiliary torque.

[0014] In combination with the first aspect, in a possible implementation, determining the adjustment torque according to the auxiliary torque includes: determining a maximum adjustment torque corresponding to the vehicle; and determining the adjustment torque according to the auxiliary torque and the maximum adjustment torque.

[0015] In combination with the first aspect, in a possible implementation manner, an adjustment rate of adjusting the torque is less than a torque adjustment rate threshold.

[0016] In combination with the first aspect, in a possible implementation, adjusting parameters to control steering wheel rotation includes: determining a target torque based on the adjustment torque, and controlling the steering wheel rotation based on the target torque, wherein the target torque is the sum of the adjustment torque and the original power assist torque of the vehicle.

[0017] In combination with the first aspect, in a possible implementation, determining the adjustment angle of the steering wheel based on the second yaw parameter includes: determining a target angle of the steering wheel according to the second yaw parameter and a rate of change of the second yaw parameter; and determining the adjustment angle according to the target angle.

[0018] In combination with the first aspect, in a possible implementation, determining the adjustment angle according to the target angle includes: determining a maximum adjustment angle corresponding to a current speed of the vehicle; and determining the adjustment angle according to the target angle and the maximum adjustment angle.

[0019] In combination with the first aspect, in a possible implementation manner, an adjustment rate of adjusting the angle is less than an angle adjustment rate threshold.

[0020] In combination with the first aspect, in a possible implementation manner, obtaining a steering wheel state of the vehicle includes: obtaining a current torque of the steering wheel.

[0021] In combination with the first aspect, in a possible implementation, the braking deviation control method also includes: if the current torque of the steering wheel is greater than or equal to a preset threshold, determining that the steering wheel state indicates that the steering wheel is operated when the vehicle is in a braking state; otherwise, determining that the steering wheel state indicates that the steering wheel is not operated when the vehicle is in a braking state.

[0022] In a second aspect, the present application also provides a braking deviation control device. The device comprises:

[0023] An acquisition module, used for acquiring a steering wheel state of the vehicle when the yaw parameter of the vehicle in a braking state indicates that the vehicle has a braking deviation; the steering wheel state is used to indicate whether the steering wheel of the vehicle is operated in a braking state;

[0024] The control module is used to determine the adjustment parameters of the steering wheel according to the yaw parameter and the steering wheel state, and control the rotation of the steering wheel based on the adjustment parameters; the adjustment parameters include adjustment torque or adjustment angle.

[0025] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0026] In a fourth aspect, the present application also provides a vehicle, comprising the device as described in the second aspect.

[0027] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method described in the first aspect when executed by a processor.

[0028] The embodiments of the present application provide a braking deviation control method, device, equipment, storage medium and program product, which can obtain the yaw parameter of the vehicle in the braking state, and when the yaw parameter indicates that the vehicle has braking deviation, obtain the steering wheel state of the vehicle, and then determine to adjust the steering wheel torque or directly adjust the steering wheel angle according to the yaw parameter and the steering wheel state. The embodiments of the present application use the yaw parameter to determine whether the vehicle has braking deviation, and determine the steering wheel adjustment parameter without installing a wheel braking force sensor, that is, without adding additional components, which effectively reduces the cost of braking deviation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0030] Figure 1 A schematic diagram of a flow chart of a brake deviation control method in one embodiment;

[0031] Figure 2 A schematic flow chart of a brake deviation control method in one embodiment;

[0032] Figure 3 Another schematic diagram of a flow chart of a brake deviation control method in one embodiment;

[0033] Figure 4 Another schematic diagram of a flow chart of a brake deviation control method in one embodiment;

[0034] Figure 5 Another schematic diagram of a flow chart of a brake deviation control method in one embodiment;

[0035] Figure 6 Another schematic diagram of a flow chart of a brake deviation control method in one embodiment;

[0036] Figure 7 is a structural block diagram of a brake deviation control device in one embodiment;

[0037] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0038] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0039] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. In addition, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order of objects.

[0040] When a vehicle brakes, the phenomenon of driving to one side is called brake deviation, which will seriously affect driving safety. At present, the steering compensation torque is often determined based on the braking force of the left and right wheels of the vehicle obtained by the wheel braking force sensor, and then the steering wheel torque is determined to compensate and control the steering wheel.

[0041] However, the braking force of the left and right wheels needs to be obtained through wheel braking force sensors. Currently, wheel braking force sensors are rarely used, which makes the application scope of the existing brake deviation control scheme narrower. If wheel braking force sensors are to be equipped, the cost will also increase. The existing brake deviation control scheme only performs brake deviation control when the vehicle is traveling straight, which also makes the application scope of the scheme narrower. Moreover, the existing brake deviation control scheme only considers the deflection torque formed by the unequal braking force of the left and right wheels, and ignores parameters such as the return torque and steering resistance, so that the accuracy of the steering wheel torque finally determined for compensation control is low, and the brake deviation control effect is poor, which leads to greater safety hazards.

[0042] The brake deviation control method provided in the embodiment of the present application can be applied to a brake deviation control system, which can communicate with other controllers or components of the vehicle through a controller area network (CAN) bus to obtain relevant data.

[0043] In one embodiment, the brake deviation control method includes: Figure 1 Steps shown:

[0044] Step 101: When the yaw parameter of the vehicle in the braking state indicates that the vehicle has a braking deviation, obtain the steering wheel state of the vehicle.

[0045] The steering wheel state is used to indicate whether the steering wheel is operated when the vehicle is in a braking state.

[0046] The yaw parameter may be a yaw angular velocity; the yaw parameter may include a current yaw parameter and a nominal yaw parameter, that is, the yaw parameter may include the current yaw angular velocity ω of the vehicle. r and the nominal yaw rate ω t; Nominal yaw rate ω t is the yaw rate of the vehicle in a steady state, which can be obtained by the following equations (1) and (2):

[0047]

[0048]

[0049] Among them, K is the stability factor, m is the vehicle mass, k1 is the front wheel cornering stiffness; k2 is the rear wheel cornering stiffness; a is the distance from the center of mass to the front axle; b is the distance from the center of mass to the rear axle.

[0050] In the embodiment of the present application, the brake pedal depth P can be obtained from the brake pedal depth sensor first, and then the vehicle speed V can be obtained from the electronic stability program (ESP) function module of the vehicle. When the brake pedal depth P is greater than or equal to the preset depth threshold P d And the vehicle speed V is greater than or equal to the preset vehicle speed threshold V d When P ≥ P d And V ≥ V d , it is determined that the vehicle is in a braking state.

[0051] In a possible implementation, the longitudinal deceleration a of the vehicle can also be obtained from the acceleration sensor. x (Understandably, the longitudinal deceleration is a negative value), at a x Less than or equal to the preset deceleration threshold a d And, the vehicle speed V is greater than or equal to the preset vehicle speed threshold V d When x ≤a d And V ≥ V d , it is determined that the vehicle is in a braking state.

[0052] After determining that the vehicle is in a braking state, the current yaw rate ω of the vehicle can be obtained from the yaw rate sensor r , and determine the current yaw angular velocity ω r With the nominal yaw rate ω t The difference ω r -ω t , and then the absolute value of the difference |ω r -ω t |With the preset yaw rate threshold ω d For comparison, in |ω r -ω t |≥ω d If the braking deviation occurs and the duration is greater than or equal to 0.05 seconds, it is determined that the vehicle has braking deviation.

[0053] At this time, the state of the vehicle's steering wheel can be obtained to determine whether the steering wheel is currently being operated by the driver, that is, to determine whether the driver is involved in the steering operation of the vehicle.

[0054] In a possible implementation, it is possible to determine whether the steering wheel is operated by the driver based on the current torque T of the steering wheel, which may be:

[0055] The current torque of the steering wheel is obtained. If the current torque of the steering wheel is greater than or equal to a preset threshold, it is determined that the steering wheel state represents that the steering wheel is operated when the vehicle is in a braking state; otherwise, it is determined that the steering wheel state represents that the steering wheel is not operated when the vehicle is in a braking state.

[0056] In this implementation, the current torque T of the steering wheel can be obtained through the vehicle's electronic power steering system (EPS), and then the absolute value of the current torque T and the preset threshold T d For comparison, |T|≥T d When |T| <T d Make sure the steering wheel is not being operated by the driver.

[0057] Step 102: determining an adjustment parameter of the steering wheel according to the yaw parameter and the state of the steering wheel, and controlling the rotation of the steering wheel based on the adjustment parameter; the adjustment parameter includes adjusting the torque or adjusting the angle.

[0058] In the embodiment of the present application, the braking deviation control mode can be determined by the steering wheel state, that is, the braking deviation control is performed by adjusting the steering wheel torque or by adjusting the steering wheel angle. However, when the steering wheel is operated by the driver, the driver's subsequent operation cannot be predicted, and the vehicle's subsequent driving route cannot be determined, that is, the expected driving route is less predictable. Therefore, the steering wheel torque can be adjusted to assist the driver's control operation of the vehicle to achieve braking deviation control; when the steering wheel is not operated by the driver, the expected driving route is more predictable, so the steering wheel angle can be directly adjusted to perform braking deviation control.

[0059] Then, the steering wheel corresponding adjustment torque or adjustment angle can be determined according to the current yaw parameter when the vehicle reaches a steady state and no longer brakes and deviates, thereby controlling the steering wheel torque to the adjustment torque to achieve braking deviation control, or controlling the steering wheel angle to the adjustment angle to achieve braking deviation control.

[0060] In one possible implementation, since the current driving state of the vehicle will affect the predictability of the expected driving route, the braking deviation control mode can also be determined by the current driving state of the vehicle and the steering wheel state, that is, the braking deviation control mode is determined by the two conditions of whether the vehicle is going straight and the steering wheel state.

[0061] The method provided in the application embodiment can obtain the yaw parameter of the vehicle under braking. If the yaw parameter indicates that the vehicle has brake deviation, the steering wheel state of the vehicle is obtained, and the predictability of the driver's expected driving route is determined by the steering wheel state, and then the brake deviation control method is determined to be to assist the driver in brake deviation control by adjusting the steering wheel torque, or to directly adjust the steering wheel angle to actively control the brake deviation. The embodiment of the present application can determine whether the vehicle has brake deviation through parameters such as brake pedal depth, vehicle speed, and yaw angular velocity. The judgment method is convenient and accurate, and there is no need to install wheel braking force sensors. It has a wide range of applications and low cost. Taking into account the driver's operation of the vehicle and the predictability of the vehicle's subsequent driving route, the brake deviation control method is divided into auxiliary control based on adjusting the steering wheel torque and active control based on adjusting the steering wheel angle, which has a better control effect and effectively reduces safety hazards.

[0062] The above-mentioned embodiment introduces a scheme for determining the steering wheel adjustment parameters. In another embodiment of the present application, the adjustment parameters can be determined according to the vehicle driving state and the steering wheel state. For example, the above-mentioned "determining the steering wheel adjustment parameters according to the yaw parameter and the steering wheel state" specifically includes the following: Figure 2 Steps shown:

[0063] Step 201: Determine a first yaw parameter and a second yaw parameter according to the yaw parameter.

[0064] The first yaw parameter is related to M sub-parameters in the yaw parameter, the second yaw parameter is related to N sub-parameters in the yaw parameter, the M sub-parameters are different from the N sub-parameters (completely different or partially the same), and M and N are integers greater than or equal to 2. That is, the first yaw parameter and the second yaw parameter are determined by different sub-parameters in the yaw parameter.

[0065] The sub-parameters include a nominal yaw parameter, a target yaw parameter, and a current yaw parameter. The nominal yaw parameter is the yaw parameter when the vehicle reaches a steady state; the target yaw parameter can be 0.

[0066] The first yaw parameter is the absolute value of the difference between the nominal yaw parameter and the current yaw parameter, that is, the absolute value of the difference between the nominal yaw angular velocity and the current yaw angular velocity |ω r -ω t The second yaw parameter is the difference between the target yaw parameter and the current yaw parameter, that is, the difference between the target yaw angular velocity and the current yaw angular velocity.

[0067] Step 202: If the vehicle is in a turning state, or the steering wheel state indicates that the steering wheel is operated in a braking state, then an adjustment torque of the steering wheel is determined based on a first yaw parameter.

[0068] In the embodiment of the present application, when the vehicle is in a turning state, no matter whether the steering wheel is currently operated by the driver, the driver's expected driving route cannot be determined; when the steering wheel is operated by the driver, no matter whether the vehicle is going straight, the driver's expected driving route cannot be determined. Therefore, when the vehicle is braking and running away, if it is in a turning state or the steering wheel is operated by the driver, when it is determined that the current yaw parameter reaches the nominal yaw parameter, that is, when the vehicle is no longer braking and running away, the steering wheel corresponding adjustment torque is adjusted to the adjustment torque, and the steering wheel rotation is controlled to achieve braking and running away control in a manner of assisting in controlling the steering wheel.

[0069] It can be understood that when the difference between the nominal yaw parameter and the current yaw parameter is 0, that is, ω r -ω t =0; or the absolute value of the difference between the nominal yaw parameter and the current yaw parameter is less than the preset yaw angular velocity threshold ω d When |ω r -ω t |<ω d , the vehicle no longer deviates under braking.

[0070] Step 202: If the vehicle is in a straight-moving state, and the steering wheel state indicates that the steering wheel is not operated in a braking state, then determine an adjustment angle of the steering wheel based on a second yaw parameter.

[0071] In the embodiment of the present application, the vehicle is in a straight-moving state, and the steering wheel is not currently operated by the driver, then it can be determined that the driver's expected driving route is a straight line, that is, the expected yaw rate is 0. Therefore, when the vehicle is braking and running off, it is possible to determine the adjustment angle of the steering wheel when the current yaw rate of the vehicle reaches the expected yaw rate, and then control the steering wheel to rotate to the adjustment angle, so as to keep the vehicle moving straight and achieve braking and running off control. Among them, the expected yaw rate is the target yaw rate.

[0072] A possible implementation method can be achieved by using the steering wheel angle θ and the steering wheel angular velocity ω θ and yaw rate ω r Determine the vehicle's driving state. Specifically, first obtain the steering wheel angle θ and steering wheel angular velocity ω from the vehicle's EPS system θ , obtain the vehicle's current yaw rate ω from the yaw rate sensor r , and then make a judgment, when the steering wheel angle θ is less than or equal to the preset angle threshold θ d , and the steering wheel angular velocity ω θ Less than or equal to the preset angular velocity threshold ω θd , and the yaw angular velocity ω r Less than or equal to the second preset yaw angular velocity threshold ω e , then the vehicle is determined to be in a straight-ahead state. That is, θ≤θd And ω θ ≤ω θd And ω r ≤ω e , it is determined that the vehicle is in a straight-moving state.

[0073] The method provided in the embodiment of the present application can determine the adjustment torque of the steering wheel based on the first yaw parameter when the vehicle is turning or the steering wheel is operated by the driver, and control the steering wheel rotation according to the adjustment torque; when the vehicle is traveling straight and the steering wheel is not operated by the driver, determine the adjustment angle of the steering wheel based on the second yaw parameter, and control the steering wheel rotation according to the adjustment angle. The embodiment of the present application takes into account the operation of the vehicle by the driver and the predictability of the subsequent driving route of the vehicle, and divides the braking deviation control mode into auxiliary control based on adjusting the steering wheel torque and active control based on adjusting the steering wheel angle, which has a better control effect and effectively reduces safety hazards.

[0074] The above-mentioned embodiment introduces a solution of adjusting the steering wheel torque to realize the braking deviation control. In another embodiment of the present application, the adjustment torque can be determined by looking up a table according to the current speed of the vehicle. For example, the above-mentioned "determining the adjustment torque of the steering wheel based on the first yaw parameter" specifically includes the following: Figure 3 Steps shown:

[0075] Step 301 : Look up torque reference information based on a first yaw parameter and a speed of the vehicle, and determine a value of the assist torque corresponding to the first yaw parameter and the current speed of the vehicle.

[0076] Step 302: determining the direction of the assist torque according to the difference between the current yaw parameter and the nominal yaw parameter;

[0077] Step 303: Determine the assist torque according to the value and direction of the assist torque.

[0078] The torque reference information includes steering wheel torques corresponding to different vehicle speeds and different first yaw parameters.

[0079] In the embodiment of the present application, the specific value T of the auxiliary torque can be determined by searching the torque reference information. z , and then the direction of the auxiliary torque is determined by the positive or negative difference between the yaw rate and the nominal yaw rate. r -ω t >0, the vehicle brakes to the left and the adhesion coefficient of the left road is greater than that of the right road, so T is determined. z Direction is right; ω r -ω t <0, the vehicle brakes to the right and the road adhesion coefficient on the right side is greater than that on the left side, so T is determined. zThe direction is left. The value of the assist torque combined with the direction is the assist torque.

[0080] Understandably, the vehicle is no longer braking and running away. z is 0.

[0081] Step 304: Determine the adjustment torque according to the auxiliary torque.

[0082] In the embodiment of the present application, after the auxiliary torque is determined, the auxiliary torque can be directly used as the adjustment torque to control the vehicle's braking deviation. Considering that the current speed of the vehicle has a great influence on the braking deviation control process, for example, when the current speed of the vehicle is too fast, adjusting the steering wheel with a large force will cause the vehicle to be uncontrollable, which poses a great safety hazard. Therefore, the adjustment torque can be limited and the acceleration and deceleration rate can be limited.

[0083] For example, the aforementioned “determining the adjustment torque according to the auxiliary torque” specifically includes: Figure 4 Steps shown:

[0084] Step 401: Determine the maximum adjustment torque corresponding to the vehicle.

[0085] Step 402: Determine the adjustment torque according to the auxiliary torque and the maximum adjustment torque.

[0086] In the embodiment of the present application, based on the correspondence between the speed and the maximum adjustment torque, the maximum adjustment torque corresponding to the current speed of the vehicle is determined, and then the adjustment torque is determined based on the maximum adjustment torque. For example, if the auxiliary torque determined above is less than or equal to the maximum adjustment torque, the auxiliary torque is directly determined as the adjustment torque; if the auxiliary torque determined above is greater than the maximum torque, the maximum adjustment torque is used as the adjustment torque.

[0087] Furthermore, considering the influence of too fast change of steering wheel torque on the braking deviation control process, the torque acceleration and deceleration rate can be limited. That is, after the adjustment torque is determined, the adjustment torque is applied to the steering wheel at an adjustment rate less than the torque adjustment rate threshold, and the torque applied to the steering wheel is gradually increased so that the steering wheel torque reaches the target torque at a certain rate.

[0088] Among them, the target torque is the adjustment torque T z and the vehicle's original assist torque T b Considering that the EPS system will output the basic assist torque T regardless of whether the vehicle is braking or not. b Therefore, after determining the adjustment torque, the steering wheel can be controlled according to the adjustment torque. The final torque applied to the steering wheel should be the adjustment torque T z and the vehicle's original assist torque T b The sum of the target torque T z +Tb .

[0089] In a possible implementation, if the vehicle is not braking, or the yaw parameter of the vehicle in the braking state indicates that the vehicle is not braking and is running sideways, then the steering wheel control is stopped. That is, when it is determined that the brake pedal depth P is less than the preset depth threshold P d , or the vehicle speed V is less than the preset vehicle speed threshold V d , or the current yaw rate ω r With the nominal yaw rate ω t The absolute value of the difference is less than the preset yaw rate threshold ω d , or longitudinal deceleration a x Greater than the preset deceleration threshold a d , that is, P<P d Or V<V d or |ω r -ω t |<ω d or a x >a d If the braking deviation problem persists for more than 0.05 seconds, the vehicle is determined to be no longer running away due to braking, and the braking deviation control of the vehicle can be stopped until it is detected that the vehicle has the braking deviation problem again.

[0090] It can be understood that when the braking deviation control of the vehicle is stopped, the torque applied to the steering wheel can be reduced at a certain rate until the steering wheel torque reaches the original assist torque.

[0091] The method provided in the embodiment of the present application can determine the value of the auxiliary torque corresponding to the second yaw parameter and the current speed of the vehicle by directly looking up the torque reference information, thereby obtaining the auxiliary torque in combination with the direction of the auxiliary torque, and then determining the adjustment torque in combination with the original assist torque of the vehicle. The method is relatively simple, convenient and highly accurate.

[0092] The above-mentioned embodiment introduces a solution of adjusting the steering wheel angle to achieve brake deviation control. In another embodiment of the present application, the adjustment angle can be determined according to the target yaw parameter of the vehicle. For example, the above-mentioned "determining the adjustment angle of the steering wheel based on the second yaw parameter" specifically includes the following: Figure 5 Steps shown:

[0093] Step 501: Determine a target angle of the steering wheel according to a second yaw parameter and a change rate of the second yaw parameter.

[0094] The current yaw parameter may be a current yaw angular velocity; and the target yaw parameter may be a target yaw angular velocity.

[0095] In the embodiment of the present application, the expected yaw rate can be used as the target yaw rate, and then the target angle θ of the steering wheel can be determined by closed-loop control when the current yaw rate of the vehicle reaches the target yaw rate. z For example, the difference Δω between the target yaw rate and the current yaw rate can be determined first: r , then determine the difference Δω r Rate of change Finally, the target angle of the steering wheel is calculated by the variable universe fuzzy PID controller according to the following formula (3):

[0096]

[0097] Among them, K p is the proportional link adjustment coefficient; ΔK p K is the proportional link adjustment coefficient adjustment calculated by the variable universe fuzzy PID controller; i is the integral link adjustment coefficient; ΔK i K is the integral link adjustment coefficient adjustment calculated by the variable universe fuzzy PID controller; d is the differential link adjustment coefficient; ΔK d It is the differential link adjustment coefficient adjustment calculated by the variable universe fuzzy PID controller.

[0098] When the vehicle is moving straight and the steering wheel is not operated by the driver, the expected yaw angular velocity is 0.

[0099] Step 503: Determine the adjustment angle according to the target angle.

[0100] In the embodiment of the present application, the target angle can be directly used as the adjustment angle to control the braking deviation of the vehicle.

[0101] In one embodiment, considering that the current speed of the vehicle has a great influence on the braking deviation control process, for example, when the current speed of the vehicle is too fast, a large adjustment of the steering wheel will cause the vehicle to be uncontrollable, which poses a great safety hazard. Therefore, the target angle can be limited before determining the adjustment angle. That is, "determining the adjustment angle according to the target angle" includes the following: Figure 6 Steps shown:

[0102] Step 601: Determine the maximum adjustment angle corresponding to the current speed of the vehicle.

[0103] Step 602: Determine the adjustment angle according to the target angle and the maximum adjustment angle.

[0104] That is, based on the correspondence between the speed and the maximum adjustment angle, the maximum adjustment angle corresponding to the current speed of the vehicle is determined, and then the adjustment angle is determined based on the maximum adjustment angle. For example, if the target angle is less than or equal to the maximum adjustment angle, the target angle is determined as the adjustment angle, and the steering wheel is controlled to turn; if the target angle is greater than the maximum adjustment angle, the maximum adjustment angle is determined as the adjustment angle, and the steering wheel is controlled to turn.

[0105] Considering the influence of too fast change of steering wheel angle on the braking deviation control process, the angle acceleration and deceleration rate can be limited. That is, after the adjustment angle is determined, the steering wheel is turned at an adjustment rate less than the angle adjustment rate threshold until the steering wheel is turned to the adjustment angle.

[0106] In a possible implementation, if the vehicle is not braking, or the yaw parameter of the vehicle in the braking state indicates that the vehicle is not braking and is running sideways, then the steering wheel control is stopped. That is, when it is determined that the brake pedal depth P is less than the preset depth threshold P d , or the vehicle speed V is less than the preset vehicle speed threshold V d , or the current yaw rate ω r With the nominal yaw rate ω t The absolute value of the difference is less than the preset yaw rate threshold ω d , or longitudinal deceleration a x Greater than the preset deceleration threshold a d , that is, P<P d Or V<V d or |ω r -ω t |<ω d or a x >a d If the braking deviation problem persists for more than 0.05 seconds, the vehicle is determined to be no longer running away due to braking, and the braking deviation control of the vehicle can be stopped until it is detected that the vehicle has the braking deviation problem again.

[0107] It can be understood that when the braking deviation control of the vehicle is stopped, the steering wheel angle can be restored at a certain rate until the steering wheel angle is 0.

[0108] The method provided in the embodiment of the present application can determine the target angle of the steering wheel when the current yaw parameter of the vehicle reaches the target yaw parameter based on the target yaw parameter through closed-loop control, so that the determined target angle is more accurate, and then the adjustment angle determined according to the target angle is also more accurate, and the braking deviation control effect is better.

[0109] It should be noted that although the operations of the method of the present invention are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0110] Further references Figure 7 , which shows an exemplary structural block diagram of a device for braking deviation control according to an embodiment of the present application.

[0111] In one embodiment, the brake deviation control device includes: an acquisition module 701 and a control module 702, wherein:

[0112] The acquisition module 701 is used to acquire the steering wheel state of the vehicle when the yaw parameter of the vehicle in the braking state indicates that the vehicle has braking deviation; the steering wheel state is used to indicate whether the steering wheel of the vehicle is operated in the braking state.

[0113] The control module 702 is used to determine the adjustment parameters of the steering wheel according to the yaw parameter and the state of the steering wheel, and control the rotation of the steering wheel based on the adjustment parameters; the adjustment parameters include adjustment torque or adjustment angle.

[0114] In one embodiment, the braking deviation control device further includes a stop control module 703 for prohibiting control of the steering wheel if the vehicle is not braked, or if the yaw parameter of the vehicle in the braking state indicates that the vehicle is not braking and is deviationing.

[0115] In one embodiment, the control module 702 is specifically used to determine a first yaw parameter and a second yaw parameter according to the yaw parameter; the first yaw parameter is related to M sub-parameters in the yaw parameter, the second yaw parameter is related to N sub-parameters in the yaw parameter, the M sub-parameters are different from the N sub-parameters, and M and N are integers greater than or equal to 2; if the vehicle is in a turning state, or the steering wheel state indicates that the steering wheel is operated in a braking state, then the adjustment torque of the steering wheel is determined based on the first yaw parameter; if the vehicle is in a straight-moving state, and the steering wheel state indicates that the steering wheel is not operated in a braking state, then the adjustment angle of the steering wheel is determined based on the second yaw parameter.

[0116] In one embodiment, the sub-parameters included in the yaw parameter include a nominal yaw parameter, a current yaw parameter, and a target yaw parameter; the nominal yaw parameter is the yaw parameter when the vehicle reaches a steady state, and the target yaw parameter is zero.

[0117] In one embodiment, the control module 702 is further configured to determine a first yaw parameter according to an absolute value of a difference between a current yaw parameter and a nominal yaw parameter; and determine a second yaw parameter according to a difference between a target yaw parameter and a current yaw parameter.

[0118] In one embodiment, the control module 702 is also used to search for torque reference information based on the first yaw parameter and the speed of the vehicle, and determine the value of the auxiliary torque corresponding to the first yaw parameter and the current speed of the vehicle; the torque reference information includes the values ​​of the auxiliary torque corresponding to different vehicle speeds and different yaw parameters; determine the direction of the auxiliary torque according to the difference between the current yaw parameter and the nominal yaw parameter; determine the auxiliary torque according to the value and direction of the auxiliary torque; and determine the adjustment torque according to the auxiliary torque.

[0119] In one embodiment, the control module 702 is further configured to determine a maximum adjustment torque corresponding to the vehicle; and determine the adjustment torque according to the auxiliary torque and the maximum adjustment torque.

[0120] In one embodiment, the adjustment rate of the adjusted torque is less than a torque adjustment rate threshold.

[0121] In one embodiment, the control module 702 is further configured to determine a target torque according to the adjustment torque, and control the steering wheel rotation according to the target torque, wherein the target torque is the sum of the adjustment torque and the original power-assist torque of the vehicle.

[0122] In one embodiment, the control module 702 is further used to determine the change rate of the second yaw parameter; determine the target angle of the steering wheel according to the second yaw parameter and the change rate of the second yaw parameter; and determine the adjustment angle according to the target angle.

[0123] In one embodiment, the control module 702 is further used to determine the maximum adjustment angle corresponding to the current speed of the vehicle; and determine the adjustment angle according to the target angle and the maximum adjustment angle.

[0124] In one embodiment, an adjustment rate of adjusting the angle is less than an angle adjustment rate threshold.

[0125] In one embodiment, the acquisition module 701 is specifically configured to acquire the current torque of the steering wheel.

[0126] In one embodiment, the acquisition module 701 is also used to determine that the steering wheel state indicates that the steering wheel is operated when the vehicle is in a braking state if the current torque of the steering wheel is greater than or equal to a preset threshold; otherwise, determine that the steering wheel state indicates that the steering wheel is not operated when the vehicle is in a braking state.

[0127] It should be understood that the units or modules described in the brake deviation control device are the same as those described in the reference Figure 1The various steps in the described method correspond to each other. Therefore, the operations and features described above for the method are also applicable to the brake deviation control device and the units contained therein, and will not be repeated here. The brake deviation control device can be pre-implemented in a browser or other security application of an electronic device, or loaded into the browser or its security application of an electronic device by downloading or the like. The corresponding units in the brake deviation control device can cooperate with the units in the electronic device to implement the solution of the embodiment of the present application.

[0128] Reference below Figure 8 , which shows a schematic diagram of the structure of a computer system 800 of a terminal device or server suitable for implementing an embodiment of the present application.

[0129] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage part 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the system 800 are also stored. The CPU 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0130] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed.

[0131] In particular, according to the embodiments of the present disclosure, the above reference Figure 1 The described processes may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising a computer program for executing Figure 1 In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809 and / or installed from the removable medium 811.

[0132] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium such as a computer-readable storage medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0133] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a different order from the order marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0134] The units or modules involved in the embodiments described in the present application may be implemented by software or hardware. The units or modules described may also be arranged in a processor. The names of these units or modules do not, in some cases, constitute limitations on the units or modules themselves.

[0135] As another aspect, the present application also provides a vehicle, which includes the brake deviation control device described in the above embodiment.

[0136] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the computer device described in the above embodiment, or may exist independently without being installed in the computer device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the method described in the present application. For example, it can be executed Figure 1 to Figure 6 The individual steps of the method are shown.

[0137] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0138] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A braking deviation control method, characterized in that: The method comprises: When the yaw parameter of the vehicle in the braking state indicates that the vehicle has a braking deviation, obtaining the steering wheel state of the vehicle; the steering wheel state is used to indicate whether the steering wheel of the vehicle is operated in the braking state; An adjustment parameter of the steering wheel is determined according to the yaw parameter and the steering wheel state, and the steering wheel rotation is controlled based on the adjustment parameter; the adjustment parameter includes an adjustment torque or an adjustment angle.

2. The method according to claim 1, characterized in that The method further comprises: If the vehicle is not braked, or the yaw parameter of the vehicle in the braking state indicates that the vehicle is not braking and is running off the track, then controlling the steering wheel is prohibited.

3. The method according to claim 1, characterized in that The determining the adjustment parameter of the steering wheel according to the yaw parameter and the steering wheel state comprises: Determining a first yaw parameter and a second yaw parameter according to the yaw parameter; the first yaw parameter is related to M sub-parameters in the yaw parameter, the second yaw parameter is related to N sub-parameters in the yaw parameter, the M sub-parameters are different from the N sub-parameters, and M and N are integers greater than or equal to 2; If the vehicle is in a turning state, or the steering wheel state indicates that the steering wheel of the vehicle is operated in a braking state, determining an adjustment torque of the steering wheel based on the first yaw parameter; If the vehicle is in a straight-moving state, and the steering wheel state indicates that the steering wheel of the vehicle is not operated in a braking state, an adjustment angle of the steering wheel is determined based on the second yaw parameter.

4. The method according to claim 3, characterized in that The sub-parameters included in the yaw parameter include a nominal yaw parameter, a current yaw parameter and a target yaw parameter; the nominal yaw parameter is the yaw parameter when the vehicle reaches a steady state, and the target yaw parameter is zero.

5. The method according to claim 4, characterized in that The determining the first yaw parameter and the second yaw parameter according to the yaw parameter comprises: determining the first yaw parameter according to an absolute value of a difference between the current yaw parameter and the nominal yaw parameter; The second yaw parameter is determined according to a difference between the target yaw parameter and the current yaw parameter.

6. The method according to claim 3, characterized in that The determining the adjustment torque of the steering wheel based on the first yaw parameter comprises: searching torque reference information based on the first yaw parameter and the speed of the vehicle, and determining a value of the assist torque corresponding to the first yaw parameter and the current speed of the vehicle; the torque reference information includes values ​​of the assist torque corresponding to different vehicle speeds and different first yaw parameters; determining a direction of the assist torque according to a difference between the current yaw parameter and the nominal yaw parameter; determining the assist torque according to a value of the assist torque and a direction of the assist torque; The adjustment torque is determined according to the assist torque.

7. The method according to claim 6, characterized in that The determining the adjustment torque according to the assist torque comprises: Determining a maximum adjustment torque corresponding to the vehicle; The adjustment torque is determined according to the assist torque and the maximum adjustment torque.

8. The method according to claim 7, characterized in that The adjustment rate of the adjusted torque is less than a torque adjustment rate threshold.

9. The method according to claim 6, characterized in that Controlling the steering wheel to rotate according to the adjustment parameters includes: The target torque is determined according to the adjustment torque, and the steering wheel rotation is controlled according to the target torque, wherein the target torque is the sum of the adjustment torque and the original power-assist torque of the vehicle.

10. The method according to claim 3, characterized in that: The determining the adjustment angle of the steering wheel based on the second yaw parameter comprises: determining a target angle of the steering wheel according to the second yaw parameter and a rate of change of the second yaw parameter; The adjustment angle is determined according to the target angle.

11. The method according to claim 10, characterized in that The step of determining the adjustment angle according to the target angle comprises: Determining a maximum adjustment angle corresponding to a current speed of the vehicle; The adjustment angle is determined according to the target angle and the maximum adjustment angle.

12. The method according to claim 11, characterized in that An adjustment rate of the adjustment angle is less than an angle adjustment rate threshold.

13. The method according to claim 1, characterized in that The obtaining the steering wheel state of the vehicle includes: Get the current torque of the steering wheel.

14. The method according to claim 13, characterized in that The method further comprises: If the current torque of the steering wheel is greater than or equal to a preset threshold, it is determined that the steering wheel state represents that the steering wheel of the vehicle is operated in a braking state; otherwise, it is determined that the steering wheel state represents that the steering wheel of the vehicle is not operated in a braking state.

15. A braking deviation control device, characterized in that: The device comprises: an acquisition module, configured to acquire a steering wheel state of the vehicle when a yaw parameter of the vehicle in a braking state indicates that the vehicle has a braking deviation; the steering wheel state is used to indicate whether the steering wheel of the vehicle is operated in a braking state; A control module is used to determine an adjustment parameter of the steering wheel according to the yaw parameter and the steering wheel state, and control the rotation of the steering wheel based on the adjustment parameter; the adjustment parameter includes an adjustment torque or an adjustment angle.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 14 are implemented.

17. A vehicle, characterized in that: The vehicle includes the brake deviation control device according to claim 15 .

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

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